EP3513300A4 - Sensor mit mehreren freiheitsgraden - Google Patents
Sensor mit mehreren freiheitsgraden Download PDFInfo
- Publication number
- EP3513300A4 EP3513300A4 EP17851670.4A EP17851670A EP3513300A4 EP 3513300 A4 EP3513300 A4 EP 3513300A4 EP 17851670 A EP17851670 A EP 17851670A EP 3513300 A4 EP3513300 A4 EP 3513300A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- degree
- freedom sensor
- freedom
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/14—Measuring force or stress, in general by measuring variations in capacitance or inductance of electrical elements, e.g. by measuring variations of frequency of electrical oscillators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
- A61B2034/715—Cable tensioning mechanisms for removing slack
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201662395704P | 2016-09-16 | 2016-09-16 | |
PCT/US2017/051922 WO2018053361A1 (en) | 2016-09-16 | 2017-09-15 | Multi-degree of freedom sensor |
US15/706,585 US10647007B2 (en) | 2016-09-16 | 2017-09-15 | Capacitor sensor including two plates having both conductive and non conductive regions |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3513300A1 EP3513300A1 (de) | 2019-07-24 |
EP3513300A4 true EP3513300A4 (de) | 2020-06-03 |
Family
ID=61618272
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP17851670.4A Pending EP3513300A4 (de) | 2016-09-16 | 2017-09-15 | Sensor mit mehreren freiheitsgraden |
Country Status (3)
Country | Link |
---|---|
US (3) | US10647007B2 (de) |
EP (1) | EP3513300A4 (de) |
WO (1) | WO2018053361A1 (de) |
Families Citing this family (46)
Publication number | Priority date | Publication date | Assignee | Title |
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FR3037269B1 (fr) * | 2015-06-12 | 2017-07-14 | Robocath | Chaine de transmission de mouvement entre des actionneurs et un socle d'organe d'entrainement d'un element mobile |
US9949749B2 (en) | 2015-10-30 | 2018-04-24 | Auris Surgical Robotics, Inc. | Object capture with a basket |
US10231793B2 (en) | 2015-10-30 | 2019-03-19 | Auris Health, Inc. | Object removal through a percutaneous suction tube |
US9955986B2 (en) | 2015-10-30 | 2018-05-01 | Auris Surgical Robotics, Inc. | Basket apparatus |
US10647007B2 (en) | 2016-09-16 | 2020-05-12 | Verb Surgical Inc. | Capacitor sensor including two plates having both conductive and non conductive regions |
KR102257827B1 (ko) | 2016-09-16 | 2021-05-31 | 버브 서지컬 인크. | 로봇 아암 |
EP3513095B1 (de) | 2016-09-16 | 2021-10-20 | Verb Surgical Inc. | Riemenabschluss und spannung in einer riemenscheibenanordnung für einen roboterarm |
WO2018073012A1 (de) * | 2016-10-17 | 2018-04-26 | Kistler Holding Ag | Kraft- und momentensensor, kraftaufnehmermodul für einen solchen kraft- und momentensensor und roboter mit einem solchen kraft- und momentensensor |
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JP6789853B2 (ja) * | 2017-03-08 | 2020-11-25 | 日本電産コパル電子株式会社 | 力覚センサ |
JP6746517B2 (ja) * | 2017-03-08 | 2020-08-26 | 日本電産コパル電子株式会社 | 力覚センサ |
CA2977380C (en) * | 2017-08-28 | 2020-06-30 | Synaptive Medical (Barbados) Inc. | End effector force sensor and manual actuation assistance |
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FR3080998B1 (fr) * | 2018-05-14 | 2020-04-24 | Reydel Automotive B.V. | Procede de traitement de surface d'une piece et installation associee |
WO2019238975A1 (en) * | 2018-06-15 | 2019-12-19 | Universal Robots A/S | Dual mode free-drive of robot arm |
FR3083601B1 (fr) * | 2018-07-06 | 2020-09-18 | Hexagon Metrology Sas | Bras de mesure avec extremite multifonction |
FR3083605B1 (fr) | 2018-07-06 | 2020-09-18 | Hexagon Metrology Sas | Bras de mesure avec extremite multifonction |
FR3083600B1 (fr) | 2018-07-06 | 2020-09-18 | Hexagon Metrology Sas | Bras de mesure avec extremite multifonction |
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CN109366486B (zh) * | 2018-09-28 | 2021-12-07 | 哈尔滨工业大学(深圳) | 柔性机器人逆运动学求解方法、系统、设备、存储介质 |
JP7039502B2 (ja) * | 2019-01-28 | 2022-03-22 | 日本電産コパル電子株式会社 | 力覚センサ |
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DE102019117217B3 (de) * | 2019-06-26 | 2020-08-20 | Franka Emika Gmbh | Verfahren zum Vorgeben eines Eingabewerts an einem Robotermanipulator |
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US11109928B2 (en) | 2019-06-28 | 2021-09-07 | Auris Health, Inc. | Medical instruments including wrists with hybrid redirect surfaces |
US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
EP4010153A4 (de) * | 2019-09-03 | 2022-09-28 | Shanghai Flexiv Robotics Technology Co., Ltd. | Roboterarm und roboter |
US20210060793A1 (en) | 2019-09-03 | 2021-03-04 | Shanghai Flexiv Robotics Technology Co., Ltd. | Robotic arm and robot |
CN110559083B (zh) * | 2019-09-10 | 2020-08-25 | 深圳市精锋医疗科技有限公司 | 手术机器人及其末端器械的控制方法、控制装置 |
EP4034349A1 (de) | 2019-09-26 | 2022-08-03 | Auris Health, Inc. | Systeme und verfahren zur kollisionserkennung und -vermeidung |
WO2021064536A1 (en) | 2019-09-30 | 2021-04-08 | Auris Health, Inc. | Medical instrument with capstan |
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EP4084717A4 (de) | 2019-12-31 | 2024-02-14 | Auris Health Inc | Dynamisches riemenscheibensystem |
CN114901200A (zh) | 2019-12-31 | 2022-08-12 | 奥瑞斯健康公司 | 高级篮式驱动模式 |
CN111227944B (zh) * | 2020-01-23 | 2021-11-30 | 诺创智能医疗科技(杭州)有限公司 | 手术机械臂及手术机器人 |
CN111227940B (zh) * | 2020-01-23 | 2021-11-30 | 诺创智能医疗科技(杭州)有限公司 | 手术机械臂及手术机器人 |
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JP2021178400A (ja) * | 2020-05-12 | 2021-11-18 | ソレマルテック エス.エー. | 作業デバイス |
CN115802975A (zh) | 2020-06-29 | 2023-03-14 | 奥瑞斯健康公司 | 用于检测连杆与外部对象之间的接触的系统和方法 |
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CN113769238B (zh) * | 2021-09-15 | 2022-05-03 | 天津大学 | 一种微创血管介入手术机器人导管近端力扭矩检测装置 |
CN113813048B (zh) * | 2021-10-12 | 2023-05-12 | 中南大学 | 手术机器人的四自由度远端运动中心机构 |
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2017
- 2017-09-15 US US15/706,585 patent/US10647007B2/en active Active
- 2017-09-15 EP EP17851670.4A patent/EP3513300A4/de active Pending
- 2017-09-15 WO PCT/US2017/051922 patent/WO2018053361A1/en unknown
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2020
- 2020-03-26 US US16/831,632 patent/US11104012B2/en active Active
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2021
- 2021-08-04 US US17/394,016 patent/US11766786B2/en active Active
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Also Published As
Publication number | Publication date |
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US11104012B2 (en) | 2021-08-31 |
US20220032480A1 (en) | 2022-02-03 |
EP3513300A1 (de) | 2019-07-24 |
US11766786B2 (en) | 2023-09-26 |
US20180080841A1 (en) | 2018-03-22 |
US20200290216A1 (en) | 2020-09-17 |
US10647007B2 (en) | 2020-05-12 |
WO2018053361A1 (en) | 2018-03-22 |
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